步进电机控制系统外文翻译
国家工程仪器（National Instruments）步进电机控制系统说明书
National Instruments. The boards control six stepper motors independently. T wo National Instruments UMI motion inter-face modules provide the interconnection point between the motor control boards and the stepper motors.We use a stepper motor to depress the switch from its off position to full-on position while current readings are made at both loca-tions. Initially, we program the stepper motor to slowly release the trigger, in 0.003-inch steps, from its full-on position to the position where the software detects breakthrough current. At this breakthrough (or tease)point, full current is flowing through the tips of the switch contacts, which causes arcing.T o simulate the user’s finger vibrating under fatigue on the trigger switch, the stepper motor toggles forward and back around the tease point at a user-specified distance and frequency. The minimum tease distance of the system is 0.001 in.Data Acquisition HardwareOne of the advantages of a PC-based system is the availability of plug-in data acquisition (DAQ) boards. We chose the National Instruments AT-MIO-64E-3 multipurposeby Jacquelyn Batson, MicroCraft CorporationThe Challenge: Rigorous,flexi-ble,automated life-cycle batch testing of AC and DC switches with varying voltage and current capacities.The Solution: Developing a PC-based system using National Instruments ValueMotion Stepper and DAQ boards controlled by LabWindows/CVI.IntroductionThe primary reason for testing consumer products is customer satisfaction. Early fail-ures on consumer products not only can damage product reputation with customers,but also can result in costly field returns for the manufacturer. These were two of the factors that led Black & Decker, Inc. to install a system to perform life-cycle testing on the trigger switches used in their power tools and other consumer products. They contracted with MicroCraft Corporation to develop a flexible PC-based system that uses National Instruments DAQ boards controlled by LabWindows/CVI.Specifically, Black & Decker was interest-ed in the analysis of switches undergoing a process called “teasing.” Rick Sharpe at Black & Decker reported, “We have found that a major contributor to switch failures on power tools is a user practice we call ‘teasing.’T easing results when the operator relaxes the pressure on the trigger switch to the point where the switch contacts are barely making contact, forcing the full tool current throughthe edge of the switch contact. T rying to duplicate this failure mode using operators would require an excessive expenditure of technician time and, most importantly,would not provide the consistent data we require.”Life-cycle testing of any type requires a robust test system. With a single test often taking several days, Black & Decker invests a lot of machine hours as well as man-hours testing each product. As a result, our chal-lenge at MicroCraft was to develop a system that could withstand the rigors of continuous use and smoothly handle catastrophic events such as power outages with no loss of data and minimal interference with the test in progress. The system also needed to run sev-eral test stations independently to simultane-ously test AC and DC switches with varying voltage and current characteristics.Motion ControlThe primary component of the Black &Decker switch test system is motion control.T o test six switches simultaneously, we decid-ed to use six Oriental Motor stepper motors controlled by two multiaxis ValueMotion PC-Step motor control boards fromAutomated Life-Cycle Testings DAQs LabWindows ™/CVI s ValueMotion™Life-Cycle Testing of Spring-Loaded Switches Using Motion, DAQ, and LabWindows/CVIT he primary component of theBlack & Decker switch test system is motion control.To test six switches simultaneously,we decided to use six Oriental Motor stepper motors con-trolled by two multiaxis ValueMotion PC-Step motor control boards from National Instruments.Main Panel of Automated Switch Test System Showing All Six StationsSC-2070 termination breadboard to provide connections to the analog signals because it provides a cold-junction reference signal for the thermocouple input.System SoftwareWe chose National Instruments LabWindows/CVI as our software environment. With its special features, we could satisfy the requirements for a graphical user interface and yet main-tain the speed necessary to test six switches simultaneously. The flexible LabWindows environment also made it easy to incorporate on-line help and a manual control ing the manual control mode, Black &Decker engineers can use the system as a laboratory tool for characterizing newDAQ board and AT-AO-6 analog output board; these DAQ boards easily handle the high-speed measurements and control signals. For each switch under test, the system acquires load, no-load, and locked-rotor current measurements; temperature measurements; and voltage measurements.The system also uses analog outputs to drive hysteresis brakes (or dynamometers) that apply load. We used the National Instrumentsswitches, in addition to its customary use as a test system. The system stores all test data points and test setup information to file in standard spreadsheet or SPC-compatible format. T o simplify backups and data analysis,all files are accessible over Black & Decker’s network via a plug-in Ethernet board.SummaryWith the automated switch test system, Black & Decker can perform consistent, reliable testing on the large variety of switch-es used in their consumer products and can maintain standardized test data. Black &Decker has saved thousands of man-hours thanks to the speed, accuracy, and data stor-age capabilities of the National Instruments-based system. In addition, because of the inherent flexibility of the system, we easily added the manual mode –as a result, Black & Decker received a laboratory analysis tool as well as an automated life-cycle test system.1For more information, contact Jacquelyn Batson,MicroCraft Corporation,3209-154 Gresham Lake Road, Raleigh, NC 27615tel (919) 872-2272, fax (919) 872-5822 **********************W e chose the National InstrumentsA T-MIO-64E-3 multipurpose DAQ board and A T-AO-6 analog output board; these DAQ boards easily handle the high-speed measurements and control signals.B lack & Decker has saved thousandsof man-hours thanks to the speed,accuracy,and data storage capabili-ties of the National Instruments-based system.In addition,because of the inherent flexibility of the system,we easily added the manual mode –as a result,Black & Decker received a laboratory analysis tool as well as an automated life-cycle test system.Control Panel for T est StationU.S.Corporate Headquarters • Tel:(512) 794-0100 • Fax:(512)683-9300•****************•Branch Offices:Australia 03 9879 5166 • Austria ***********•Belgium 02 757 00 20 • Brazil 000 811 781 0559 • Canada 905 785 0085 • China ***********• Denmark 45 76 26 00Finland 09 725 725 11 • France 01 48 14 24 24 • Germany 089 741 31 30 • Greece 30 1 42 96 562 • Hong Kong 2645 3186 • India 91805275406 • Israel 03 6120092 • Italy 02 413091Japan 03 5472 2970 • Korea 02 596 7456 • Mexico 001 800 010 0793 • Netherlands 0348 433466 • New Zealand 09 914 0488 • Norway 32 27 73 00 • Singapore 2265886 • Spain 91 640 0085Sweden 08 587 895 00 • Switzerland 056 200 51 51 • Taiwan 02 2377 1200 • U.K.01635 523545© Copyright 1999 National Instruments Corporation.All rights reserved.Product and company names listed are trademarks or trade names of their respective companies.361589A-01 051099。
步进电机英语介绍ppt
视频：
Closed-loop control
The closed-loop control of the stepping motor is used to determine the phase transformation, which is suitable for the position of the rotor. The accuracy and stability of the system can greatly improve the performance of the stepping motor. 步进电动机的闭环控制是采用位置反馈和
introduce：
Stepping motor is a synchronous motor with intermittent operation, which is a function of the digital control system.
步进电机本质上属于断续运转的同步电机， 是数字控制系统中的一种执行元件。
synchronous [ˈsɪŋkrənəs] intermittent operation [ˌɪntəˈmitənt ˌɔpəˈreiʃən] digital [ˈdɪdʒɪtl]
The function is to convert the input pulse signal into the corresponding angular displacement or linear displacement. The motor rotates a corner or a step. 其功用是将输入的脉冲信号转换为相应的 角位移或直线位移，给定一个脉冲信号， 电机就转动一个角度或前进一步。
【资料】步进电机和伺服电机的系统控制中英文翻译资料
【关键字】资料SELECTING THE MOTOR THAT SUITS YOUR APPLICATION Motion control, in its widest sense, could relate to anything from a welding robot to the hydraulic system in a mobile crane. In the field of Electronic Motion Control, we are primarily concerned with systems falling within a limited power range, typically up to about 10HP (7KW), and requiring precision in one or more aspects. This may involve accurate control of distance or speed, very often both and sometimes other parameters such as torque or acceleration rate. In the case of the two examples given, the welding robot requires precise control of both speed and distance; the crane hydraulic system uses the driver as the feedback system so its accuracy varies with the skill of the operator. This wouldn’t be considered a motion control system in the strict sense of the term. Our standard motion control system consists of three basic elements:Fig. 1 Elements of motion control systemThe motor，This may be a stepper motor (either rotary or linear), a DC brush motor or a brushless servo motor. The motor needs to be fitted with some kind of feedback device unless it is a stepper motor.Fig. 2 shows a system complete with feedback to control motor speed. Such a system is known as a closed-loop velocity servo system.Fig. 2 Typical closed loop (velocity) servo systemThe drive，this is an electronic power amplifier that delivers the power to operate the motor in response to low-level control signals. In general, the drive will be specifically designed to operate with a particular motor type –you can’t use a stepper drive to operate a DC brush motor, for instance.Application Areas of Motor TypesStepper MotorsStepper Motor BenefitsStepper motors have the following benefits:• Low cost• Ruggedness• Simplicity in construction• High reliability• No maintenance• Wide acceptance• No tweaking to stabilize• No feedback components are needed• They work in just about any environment• Inherently more failsafe than servo motors.There is virtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor DisadvantagesStepper motors have the following disadvantages:• Resonance effects and relatively long settling times• Rough performance at low speed unless a micro step drive is used• Liability to undetected position loss as a result of operating open-loop• They consume current regardless of load conditions and therefore tend to run hot• Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds).• They can exhibit lag-lead oscillation, which is difficult to damp. There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ball screw accuracy). Many of these drawbacks can be overcome by the use of a closed-loop control scheme. Note: The Comp motor Zeta Series minimizes or reduces many of these different stepper motor disadvantages. There are three main stepper motor types:• Permanent Magnet (P.M.) Motors• Variable Reluctance (V.R.) Motors• Hybrid MotorsWhen the motor is driven in its full-step mode, energizing two windings or “phases” at a time (see Fig. 3), the torque available on each step will be the same (subject to very small variations in the motor and drive characteristics). In the half-step mode, we are alternately energizing two phases and then only one as shown in Fig. 4. Assuming the drive delivers the same winding current in each case, this will cause greater torque to be produced when there are two windings energized. In other words, alternate steps will be strong and weak. This does not represent a major deterrent to motor performance—the available torque is obviously limited by the weaker step, but there will be a significant improvement in low-speed smoothness over the full-step mode.Clearly, we would like to produce approximately equal torque on every step, and this torque should be at the level of the stronger step. We can achieve this by using a higher current level when there is only one winding energized. This does not over dissipate the motor because the manufacturer’s current rating assumes two phases to be energized the current rating is based on the allowable case temperature). With only one phase energized, the same total power will be dissipated if the current is increased by 40%. Using this higher current in the one-phase-on state produces approximately equal torque on alternate steps (see Fig. 5).Fig. 3 Full step currentFig. 4 Half step currentFig.5 Half step current, profiledWe have seen that energizing both phases with equal currents produces an intermediate step position half-way between the one-phase-one positions. If the two phase currents are unequal, the rotor position will be shifted towards the stronger pole. This effect is utilized in the micro stepping drive, which subdivides the basic motor step by proportioning the current in the two windings. In this way, the step size is reduced and the low-speed smoothness is dramatically improved. High-resolution micro step drives divide the full motor step into as many as 500 micro steps, giving 100,000 steps per revolution. In this situation, the current pattern in the windings closely resembles two sine waves with a 90°phase shift between them (see Fig. 6). The motor is now being driven very much as though it is a conventional AC synchronous motor. In fact, the stepper motor can be driven in this way from a 60 Hz-US (50Hz-Europe) sine wave source by including a capacitor inseries with one phase. It will rotate at 72 rpm.Fig. 6 Phase currents in micro step modeStandard 200-Step Hybrid MotorThe standard stepper motor operates in the same way as our simple model, but has a greater number of teeth on the rotor and stator, giving a smaller basic step size. The rotor is in two sections as before, but has 50 teeth on each section. The half-tooth displacement between the two sections is retained. The stator has 8 poles each with 5 teeth, making a total of 40 teeth (see Fig. 7).Fig.7 200-step hybrid motorIf we imagine that a tooth is placed in each of the gaps between the stator poles, there would be a total of 48 teeth, two less than the number of rotor teeth. So if rotor and stator teeth are aligned at 12 o’clock, they will also be aligned at 6 o’clock. At 3 o’clock and 9 o’clock the teeth will be misaligned. However, due to the displacement between the sets of rotor teeth, alignment will occur at 3 o’clock and 9 o’clock at the other end of the rotor.The windings are arranged in sets of four, and wound such that diametrically-opposite poles are the same. So referring to Fig. 7, the north poles at 12 and 6 o’clock attract the south-pole teeth at the front of the rotor; the south poles at 3 and 9 o’clock attract the north-pole teeth at the back. By switching current to the second set of c oils, the stator field pattern rotates through 45°. However, to align with this new field, the rotor only has to turn through 1.8°. This is equivalent to one quarter of a tooth pitch on the rotor, giving 200 full steps per revolution.Note that there are as many detent positions as there are full steps per rev, normally 200. The detent positions correspond with rotor teeth being fully aligned with stator teeth. When power is applied to a stepper drive, it is usual for it to energize in the “zero phase” state in which there is current in both sets of windings. The resulting rotor position does not correspond with a natural detent position, so an unloaded motor will always move by at least one half steps at power-on. Of course, if the system was turned off other than in the zero phase state, or the motor is moved in the meantime, a greater movement may be seen at power-up.Another point to remember is that for a given current pattern in the windings, there are as many stable positions as there are rotor teeth (50 for a 200-step motor). If a motor isde-synchronized, the resulting positional error will always be a whole number of rotor teeth or a multiple of 7.2°. A motor cannot “miss” individual steps – position errors of one or two steps must be due to noise, spurious step pulses or a controller fault.Fig. 8 Digital servo driveDigital Servo Drive OperationFig.8 shows the components of a digital drive for a servo motor. All the main control functions are carried out by the microprocessor, which drives a D-to-A converter to produce an analog torque demand signal. From this point on, the drive is very much like an analog servo amplifier.Feedback information is derived from an encoder attached to the motor shaft. The encoder generates a pulse stream from which the processor can determine the distance traveled, and by calculating the pulse frequency it is possible to measure velocity.The digital drive performs the same operations as its analog counterpart, but does so by solving a series of equations. The microprocessor is programmed with a mathematical model (or “algorithm”) of the equivalent analog system. This model predicts the behavior of the system. It also takes into account additional information like the output velocity, the rate of change of the input and the various tuning settings.To solve all the equations takes a finite amount of time, even with a fast processor –this time is typically between 100ms and 2ms. During this time, the torque demand must remain constant at its previously-calculated value and there will be no response to a change at the input or output. This “update time” therefore becomes a critical factor in the performance of a digital servo and in a high-performance system it must be kept to a minimum.The tuning of a digital servo is performed either by pushbuttons or by sending numerical data from a computer or terminal. No potentiometer adjustments are involved. The tuning data is used to set various coefficients in the servo algorithm and hence determines the behavior of the system. Even if the tuning is carried out using pushbuttons, the final values can be uploaded to a terminal to allow easy repetition.Some applications, the load inertia varies between wide limits – think of an arm robot that starts off unloaded and later carries a heavy load at full extension. The change in inertia may well be a factor of 20 or more, and such a change requires that the drive isre-tuned to maintain stable performance. This is simply achieved by sending the new tuning values at the appropriate point in the operating cycle.步进电机和伺服电机的系统控制运动控制，在其最广泛的意义上说，可能与任何移动式起重机中焊接机器人液压系统有关。
步进电机控制系统外文翻译
步进电机的振荡、不稳定以及控制摘要：本文介绍了一种分析永磁步进电机不稳定性的新颖方法。
结果表明，该种电机有两种类型的不稳定现象：中频振荡和高频不稳定性。
非线性分叉理论是用来说明局部不稳定和中频振荡运动之间的关系。
一种新型的分析介绍了被确定为高频不稳定性的同步损耗现象。
在相间分界线和吸引子的概念被用于导出数量来评估高频不稳定性。
通过使用这个数量就可以很容易地估计高频供应的稳定性。
此外，还介绍了稳定性理论。
广义的方法给出了基于反馈理论的稳定问题的分析。
结果表明，中频稳定度和高频稳定度可以提高状态反馈。
关键词：步进电机，不稳定，非线性，状态反馈。
1. 介绍步进电机是将数字脉冲输入转换为模拟角度输出的电磁增量运动装置。
其内在的步进能力允许没有反馈的精确位置控制。
也就是说，他们可以在开环模式下跟踪任何步阶位置，因此执行位置控制是不需要任何反馈的。
步进电机提供比直流电机每单位更高的峰值扭矩;此外，它们是无电刷电机，因此需要较少的维护。
所有这些特性使得步进电机在许多位置和速度控制系统的选择中非常具有吸引力，例如如在计算机硬盘驱动器和打印机，代理表，机器人中的应用等.尽管步进电机有许多突出的特性，他们仍遭受振荡或不稳定现象。
这种现象严重地限制其开环的动态性能和需要高速运作的适用领域。
这种振荡通常在步进率低于1000脉冲/秒的时候发生，并已被确认为中频不稳定或局部不稳定[1]，或者动态不稳定[2]。
此外，步进电机还有另一种不稳定现象，也就是在步进率较高时，即使负荷扭矩小于其牵出扭矩，电动机也常常不同步。
该文中将这种现象确定为高频不稳定性，因为它以比在中频振荡现象中发生的频率更高的频率出现。
高频不稳定性不像中频不稳定性那样被广泛接受，而且还没有一个方法来评估它。
中频振荡已经被广泛地认识了很长一段时间，但是，一个完整的了解还没有牢固确立。
这可以归因于支配振荡现象的非线性是相当困难处理的。
大多数研究人员在线性模型基础上分析它[1]。
单片机控制步进电机外文文献翻译
单片机控制步进电机外文原文Stepping motor application and control stepper motor is an electrical pulse will be converted into angular displacement of the implementing agencies. Put it in simple language-speaking: When the stepper drive pulse signal to a receiver, it drives stepper motor rotation direction by setting a fixed point of view (and the step angle). You can control the number of pulses to control the amount of angular displacement, so as to achieve the purpose of accurate positioning; At the same time, you can by controlling the pulse frequency to control the motor rotation speed and acceleration,so as to achieve the purpose of speed.Stepper motor directly from the AC-DC power supply,and must use special equipment - stepper motor drive. Stepper motor drive system performance, in addition to their own performance with the motor on the outside, but also to a large extent depend on the drive is good or bad. A typical stepper motor drive system is operated by the stepper motor controller, stepper motor drives and stepper motor body is composed of three parts. Stepper motor controller stepper pulse and direction signal, each made of a pulse, stepper motor-driven stepper motor drives a rotor rotating step angle, that is, step-by-step further. High or low speed stepper motor, or speed, or deceleration, start or stop pulses are entirely dependent on whether the level or frequency.Decide the direction of the signal controller stepper motor clockwise or counterclockwise rotation. Typically, the stepper motor drive circuit from the logic control, power driver circuit, protection circuit and power components.Stepper motor drive controller, once received from the direction of the signal and step pulse, the control circuit on a pre-determined way of the electrical power-phase stepper motor excitation windings of the conduction or cut-off signal. Control circuit output signal power is low,can not provide the necessary stepping motor output power, the need for power amplifier, which is stepper motor driven power drive part. Power stepper motor drive circuit to control the input current winding to form a space for rotating magnetic field excitation, the rotor-driven movement.Protection circuit in the event of shortcircuit, overload, overheating, such as failure to stop the rapid drive and motor. Motor is usually for the permanent magnet rotor, when the current flows throughthe stator windings, the stator windings produce a magnetic field vector.The magnetic field will lead to a rotor angle of rotation, making a pair of rotor and stator magnetic field direction of the magnetic field direction. When the stator rotating magnetic field vector from a different angle. Also as the rotor magnetic field to a point of view. An electrical pulse for each input, the motor rotation angle step. Its output and input of the angular displacement is proportional to the pulses, with pulse frequency proportional to speed. Power to change the order of winding,the electrical will be reversed. We can, therefore, control the pulse number, frequency and electrical power windings of each phase to control the order of rotation of stepper motor.Stepper motor types:Permanent magnet (PM). Magnetic generally two-phase stepper, torque and are smaller and generally stepping angle of 7.5 degrees or 15 degrees; put more wind for air-conditioning.Reactive(VR), the domestic general called BF, have a common three-phase reaction, step angle of 1.5 degrees; also have five-phase reaction. Noise, no torque has been set at a large number of out.Hybrid (HB), common two-phase hybrid, five-phase hybrid, three-phase hybrid, four-phase hybrid, two-phase can be common with the four-phase drive, five-phase three-phase must be used with their drives;Two-phase, four-phase hybrid step angle is 1.8 degrees more than a small size, great distance,and low noise;Five-phase hybrid stepping motor is generally 0.72, the motor step angle small, high resolution, but the complexity of drive circuits, wiring problems, such as the 5- phase system of 10 lines.Three-phase hybrid stepping motor step angle of 1.2 degrees, but according to the use of 1.8 degrees, the three-phase hybrid stepping motor has a two-phase mixed than the five-phase hybrid more pole will help electric folder symmetric angle, it can be more than two-phase, five-phase high accuracy, the error even smaller, run moresmoothly.Stepper motor to maintain torque: stepper motor power means no rotation, the stator locked rotor torque. It is a stepper motor, one of the most important parameters, usually in the low-speed stepper motor torque at the time of close to maintain the torque. As the stepper motor output torque increases with the speed of constant attenuation, the output power also increases with the speed of change,so as to maintain torque on the stepper motor to measure the parameters of one of the most important. For example, when people say that the stepper motor 2N.m, in the absence of special circumstances that means for maintaining the torque of the stepper motor 2N.m.Precision stepper motors:stepper motor step angle accuracy of 3-5%, not cumulative.Stepper motor to allow the minimum amount of surface temperature：Stepper motor causes the motor temperature is too high the first magnetic demagnetization, resulting in loss of torque down even further, so the motor surface temperature should be the maximum allowed depending on the motor demagnetization of magnetic material points; Generally speaking,the magnetic demagnetization points are above 130 degrees Celsius, and some even as high as 200 degrees Celsius, so the stepper motor surface temperature of 80-90 degrees Celsius is normal.Start frequency of no-load: the stepper motor in case of no-load to the normal start of the pulse frequency, if the pulse frequency is higher than the value of motor does not start, possible to lose steps or blocking.In the case of the load, start frequency should be lower. If you want to achieve high-speed rotation motor, pulse frequency should be to accelerate the process, that is, the lower frequency to start, and then rose to a certain acceleration of the desired frequency (motor speed from low rise to high-speed).Step angle:that is to send a pulse,the electrical angle corresponding to rotation.Torque positioning: positioning torque stepper motor does not refer to the case of electricity,locked rotor torque stator.Operating frequency:step-by-step stepper motor can run without losing thehighest frequency.Subdivision Drive: stepper motor drives the main aim is to weaken or eliminate low-frequency vibration of the stepper motor to improve the accuracy of the motor running. Reduce noise. If the step angle is 1.8 °(full step) the two-phase hybrid stepping motor, if the breakdown of the breakdown of the number of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 °, the precision of motor can reach or close to 0.225 °, also depends on the breakdown of the breakdown of the drive current control accuracy and other factors, the breakdown of the number of the more difficult the greater the precision of control.How to determine the stepper motor driver DC power supply：A.Determination of the voltage: Hybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 ~ 48VDC), the supply voltage is usually based on the work of the motor speed and response to the request to choose.If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive,or it may damage the drive.B.Determination of CurrentPower supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I,1.5to 2.0 times.The main characteristics of stepping motor：1. A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such as If adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is proportional to.2.permanent magnet step angle stepper motor version is 7.5 degrees, 360 degrees around, takes48 pulses to complete.3.stepper motor has instant start and rapid cessation of superior characteristics. Change the order of the pulse4．you can easily change the direction of rotation.Therefore, the current printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motors have the following benefits: （1）Low cost （2）Ruggedness （3）Simplicity in construction （4）High reliability（5）No maintenance（6）Wide acceptance（7）No tweaking to stabilize （8）No feedback components are neededThey work in just about any environment Inherently more failsafe than servo motors. There isvirtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor Disadvantages：Stepper motors have the following disadvantages:1.Resonance effects and relatively long settling times.1.Rough performance at low speed unless a microstep drive is used.2.Liability to undetected position loss as a result of operating open-loop .4.They consume current regardless of load conditions and therefore tend to run hot5.Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds).1.They can exhibit lag-lead oscillation, which is difficult to damp.There is a limit to their available size, and positioning accuracy relies on the mechanics(e.g., ballscrew accuracy).Many of these drawbacks can be overcome by the use of a closed-loop control scheme.外文资料翻译译文步进电机应用和控制步进电机是将电脉冲转换成角位移的执行机构。
单片机步进电机应用和控制大学毕业论文英文文献翻译及原文
毕业设计（论文）外文文献翻译文献、资料中文题目：单片机步进电机应用和控制文献、资料英文题目：文献、资料来源：文献、资料发表（出版）日期：院（部）：专业：班级：姓名：学号：指导教师：翻译日期： 2017.02.14单片机控制步进电机外文原文Stepping motor application and control stepper motor is an electrical pulse will be converted into angular displacement of the implementing agencies. Put it in simple language-speaking: When the stepper drive pulse signal to a receiver, it drives stepper motor rotation direction by setting a fixed point of view (and the step angle). You can control the number of pulses to control the amount of angular displacement, so as to achieve the purpose of accurate positioning; At the same time, you can by controlling the pulse frequency to control the motor rotation speed and acceleration, so as to achieve the purpose of speed.Stepper motor directly from the AC-DC power supply, and must use special equipment - stepper motor drive. Stepper motor drive system performance, in addition to their own performance with the motor on the outside, but also to a large extent depend on the drive is good or bad. A typical stepper motor drive system is operated by the stepper motor controller, stepper motor drives and stepper motor body is composed of three parts. Stepper motor controller stepper pulse and direction signal, each made of a pulse, stepper motor-driven stepper motor drives a rotor rotating step angle, that is, step-by-step further. High or low speed stepper motor, or speed, or deceleration, start or stop pulses are entirely dependent on whether the level or frequency. Decide the direction of the signal controller stepper motor clockwise or counterclockwise rotation. Typically, the stepper motor drive circuit from the logic control, power driver circuit, protection circuit and power components. Stepper motor drive controller, once received from the direction of the signal and step pulse, the control circuit on a pre-determined way of the electrical power-phase stepper motor excitation windings of the conduction or cut-off signal. Control circuit output signal power is low, can not provide the necessary stepping motor output power, the need for power amplifier, which is stepper motor driven power drive part. Power stepper motor drive circuit to control the input current winding to form a space for rotating magnetic field excitation, the rotor-driven movement. Protection circuit in the event of shortcircuit, overload, overheating, such as failure to stop the rapid drive and motor.Motor is usually for the permanent magnet rotor, when the current flows through the stator windings, the stator windings produce a magnetic field vector. The magnetic field will lead to a rotor angle of rotation, making a pair of rotor and stator magnetic field direction of the magnetic field direction. When the stator rotating magnetic field vector from a different angle. Also as the rotor magnetic field to a point of view. An electrical pulse for each input, the motor rotation angle step. Its output and input of the angular displacement is proportional to the pulses, with pulse frequency proportional to speed. Power to change the order of winding, the electrical will be reversed. We can, therefore, control the pulse number, frequency and electrical power windings of each phase to control the order of rotation of stepper motor.Stepper motor types:Permanent magnet (PM). Magnetic generally two-phase stepper, torque and are smaller and generally stepping angle of 7.5 degrees or 15 degrees; put more wind for air-conditioning.Reactive (VR), the domestic general called BF, have a common three-phase reaction, step angle of 1.5 degrees; also have five-phase reaction. Noise, no torque has been set at a large number of out.Hybrid (HB), common two-phase hybrid, five-phase hybrid, three-phase hybrid, four-phase hybrid, two-phase can be common with the four-phase drive, five-phase three-phase must be used with their drives;Two-phase, four-phase hybrid step angle is 1.8 degrees more than a small size, great distance, and low noise;Five-phase hybrid stepping motor is generally 0.72, the motor step angle small, high resolution, but the complexity of drive circuits, wiring problems, such as the 5-phase system of 10 lines.Three-phase hybrid stepping motor step angle of 1.2 degrees, but according to the use of 1.8 degrees, the three-phase hybrid stepping motor has a two-phase mixed than the five-phase hybrid more pole will help electric folder symmetric angle, it can be more than two-phase, five-phase high accuracy, the error even smaller, run moresmoothly.Stepper motor to maintain torque: stepper motor power means no rotation, the stator locked rotor torque. It is a stepper motor, one of the most important parameters, usually in the low-speed stepper motor torque at the time of close to maintain the torque. As the stepper motor output torque increases with the speed of constant attenuation, the output power also increases with the speed of change, so as to maintain torque on the stepper motor to measure the parameters of one of the most important. For example, when people say that the stepper motor 2N.m, in the absence of special circumstances that means for maintaining the torque of the stepper motor 2N.m.Precision stepper motors: stepper motor step angle accuracy of 3-5%, not cumulative.Stepper motor to allow the minimum amount of surface temperature：Stepper motor causes the motor temperature is too high the first magnetic demagnetization, resulting in loss of torque down even further, so the motor surface temperature should be the maximum allowed depending on the motor demagnetization of magnetic material points; Generally speaking, the magnetic demagnetization points are above 130 degrees Celsius, and some even as high as 200 degrees Celsius, so the stepper motor surface temperature of 80-90 degrees Celsius is normal.Start frequency of no-load: the stepper motor in case of no-load to the normal start of the pulse frequency, if the pulse frequency is higher than the value of motor does not start, possible to lose steps or blocking. In the case of the load, start frequency should be lower. If you want to achieve high-speed rotation motor, pulse frequency should be to accelerate the process, that is, the lower frequency to start, and then rose to a certain acceleration of the desired frequency (motor speed from low rise to high-speed).Step angle: that is to send a pulse, the electrical angle corresponding to rotation.Torque positioning: positioning torque stepper motor does not refer to the case of electricity, locked rotor torque stator.Operating frequency: step-by-step stepper motor can run without losing thehighest frequency.Subdivision Drive: stepper motor drives the main aim is to weaken or eliminate low-frequency vibration of the stepper motor to improve the accuracy of the motor running. Reduce noise. If the step angle is 1.8 °(full step) the two-phase hybrid stepping motor, if the breakdown of the breakdown of the number of drives for the 8, then the operation of the electrical pulse for each resolution of 0.072 °, the precision of motor can reach or close to 0.225 °, also depends on the breakdown of the breakdown of the drive current control accuracy and other factors, the breakdown of the number of the more difficult the greater the precision of control.How to determine the stepper motor driver DC power supply：A. Determination of the voltage:Hybrid stepping motor driver power supply voltage is generally a wide range (such as the IM483 supply voltage of 12 ~ 48VDC), the supply voltage is usually based on the work of the motor speed and response to the request to choose. If the motor operating speed higher or faster response to the request, then the voltage value is high, but note that the ripple voltage can not exceed the maximum input voltage of the drive, or it may damage the drive.B. Determination of CurrentPower supply current is generally based on the output phase current drive I to determine. If a linear power supply, power supply current is generally preferable 1.1 to 1.3 times the I; if we adopt the switching power supply, power supply current is generally preferable to I, 1.5 to 2.0 times.The main characteristics of stepping motor：1. A stepper motor drive can be added operate pulse drive signal must be no pulse when the stepper motor at rest, such as If adding the appropriate pulse signal, it will to a certain angle (called the step angle) rotation. Rotation speed and pulse frequency is proportional to.2. permanent magnet step angle stepper motor version is 7.5 degrees, 360 degrees around, takes 48 pulses to complete.3. stepper motor has instant start and rapid cessation of superior characteristics. Change the order of the pulse4．you can easily change the direction of rotation.Therefore, the current printers, plotters, robotics, and so devices are the core of the stepper motor as the driving force.Stepper motors have the following benefits: （1）Low cost （2）Ruggedness （3）Simplicity in construction （4）High reliability （5）No maintenance （6）Wide acceptance（7）No tweaking to stabilize （8）No feedback components are needed They work in just about any environment Inherently more failsafe than servo motors. There isvirtually no conceivable failure within the stepper drive module that could cause the motor to run away. Stepper motors are simple to drive and control in an open-loop configuration. They only require four leads. They provide excellent torque at low speeds, up to 5 times the continuous torque of a brush motor of the same frame size or double the torque of the equivalent brushless motor. This often eliminates the need for a gearbox. A stepper-driven-system is inherently stiff, with known limits to the dynamic position error.Stepper Motor Disadvantages：Stepper motors have the following disadvantages:1. Resonance effects and relatively long settling times .2.Rough performance at low speed unless a microstep drive is used .3.Liability to undetected position loss as a result of operating open-loop .4. They consume current regardless of load conditions and therefore tend to run hot5. Losses at speed are relatively high and can cause excessive heating, and they are frequently noisy (especially at high speeds).6.They can exhibit lag-lead oscillation, which is difficult to damp.There is a limit to their available size, and positioning accuracy relies on the mechanics (e.g., ballscrew accuracy).Many of these drawbacks can be overcome by the use of a closed-loop control scheme.外文资料翻译译文步进电机应用和控制步进电机是将电脉冲转换成角位移的执行机构。
步进电机 英文翻译
郑州航空工业管理学院英文翻译2014 届电气工程及其自动化专业班级姓名学号指导教师职称二О一四年 2 月22 日Stepper motorStepper motor is the electrical pulse signal into angular displacement or linear displacement of an open loop stepper motor control element pieces . In the case of non- overloading , motor speed , stopped position depends only on the number of pulse frequency and pulse signals , which are not affected by changes in load , when stepper drive receives a pulse signal , it will drive a stepper motor the rotational direction is set to a fixed angle , referred to as " step angle ", which is fixed to the rotational angle of the step by step operation . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .1. basic introductionStepper motor is an induction motor, it works by using an electronic circuit .The DC power into power -sharing , multi-phase timing control current, this current is powered stepper motor , stepper motor to work properly, the stepper motor drive is powered -sharing , multi-phase timing controller .Although the stepper motor has been widely used, but the stepper motor does not like an ordinary DC motors, AC motors for use in routine under . It must be by a two- ring pulse signal , power driver circuit composed of the control system can be used. So make good use of a stepper motor , but not easy, it involves a lot of expertise in mechanical ,electrical , electronics and computers.Stepper motors as actuators , is one of the key products of mechatronics , widely used in a variety of automated control systems. With the development of microelectronics and computer technology, the growing demand for stepper motor , has applications in various fields of national economy .Stepper motor is an electrical pulse into the angular displacement of the actuator. Plainly speaking : When the stepper drive receives a pulse signal , it will drive a stepper motor to set the direction of rotation of a fixed angle ( ie, step angle ) . The number of pulses can be controlled by controlling the amount of angular displacement , so as to achieve accurate positioning ; while the pulse frequency can be controlled by controlling the motor rotation speed and acceleration to achieve speed control purposes .2. major categoriesThere are three main types of stepper motors in the structure : Reaction (Variable Reluctance, VR), permanent magnet (Permanent Magnet, PM) and hybrid (Hybrid Stepping, HS).Reaction: the stator windings , the rotor soft magnetic material. Simple structure, low cost , small step angle up to 1.2 °, but poor dynamic performance , low efficiency, heat a large , difficult to guarantee reliability .Permanent magnet : permanent magnet stepper motors with permanent magnet rotor material, the number of poles of the rotor and the stator of the same number of poles . Which is characterized by good dynamicperformance, output torque, this motor but poor accuracy , a large step angle (typically 7.5 ° or 15 °).Hybrid : a combination of hybrid stepping motors and permanent magnet reactive advantage of its multi-phase windings on the stator , the rotor permanent magnet material , the rotor and the stator teeth are a number of small steps to improve the accuracy of the moment . It features an output torque, good dynamic performance, step angle is small, but the structure is complex, the cost is relatively high.Press the stator windings to points , a total of two-phase , three-phase and five equal series. Most popular is the two-phase hybrid stepping motor , accounting for more than 97 % market share , the reason is the high cost , coupled with good results after the breakdown of the drive. This kind of basic step angle of the motor 1.8 °/ step , half step back coupled with the drive to reduce the step angle of 0.9 °, coupled with sub-drive after its step angle can be broken up to 256 -fold (0.007 °/ micro step ) . Due to friction and manufacturing precision and other reasons , the actual control accuracy is slightly lower . Same stepper motors can be equipped with different segments of the drive to change the precision and effectiveness.3. selection methodStepper motor and drive selection methods :Determine how much torque is required : static torque stepper motor is to choose one of the main parameters. Load is large, requires the use of high torque motor. Indicators big moment , the motor appearance is also large.Determine motor speed : high speed requirements , should be selected phase current is larger , smaller inductor motors to increase power input. And select the drive when using higher supply voltages.Select motor installation specifications : as 57,86,110 , the main requirements for the moment .Determine the precision positioning requirements and vibration aspects of the case : to determine whether the required segments, the number of segments required .According to the motor current , supply voltage breakdown and select the drive .4. Basic PrinciplesWorksThe rotor is a permanent magnet motor typically , when a current flows through the stator windings , the stator winding generates a magnetic field vector . The rotating magnetic field to drive the rotor at an angle such that the magnetic field of the stator is consistent with a direction of the magnetic field of the rotor. When the stator magnetic field vector rotation angle. As the rotors turn a field angle . Each input an electrical pulse , the motor rotation angle forward. The number of pulses proportional to the angular displacement of the output and its input , the pulse frequency is proportional to the rotational speed . Change the order of the winding is energized , the motor will reverse. Therefore, the number of pulses can be used to control power-on sequence , frequency and motor windings to control each phase stepper motor rotation .Fever principleUsually see all kinds of motors , are all inside the core and windings . Windings resistance , power will produce loss , the loss is proportional to the square of the size of the resistance and current , and this is what we often say that the copper losses , if the current is not a standard DC or sine wave , but also produce harmonic losses ; core has hysteresis eddy current effect , in the alternating magnetic field will produce losses , its size and materials , current, frequency , voltage dependent , called iron loss. Copper and iron losses are manifested in the form of heat , thus affecting the efficiency of the motor . Stepper motors are generally pursue positioning accuracy and torque output , efficiency is relatively low, the current is generally relatively large, and the high harmonic components , the frequency of the alternating current with the speed of change, thus stepping motor widespread fever cases and situations than the general severe AC motor .5. major tectonicStepping motor is also called a stepper , which uses the principle of electromagnetic , mechanical energy is converted to electrical energy , People as early as the 1920s began to use this motor . As embedded systems ( such as printers, disk drives , toys, wipers, pager vibration , mechanical arm and video recorders , etc. ) of the increasingly popular use of the stepper motor also began surge. Whether in industrial, military , medical, automotive or entertainment industry , as long as a piece of the object needs to be moved from one location to another , the stepper motor will certainly come in handy. Stepper motors have many shapes and sizes, but regardless of how the shape and size , they can be classified into two categories : a variable reluctance stepper motors and permanent magnetstepper motors.A stepper motor is wound on the motor fixing part - the stator coils driven alveolar . Typically , a ring-shaped metal wire called a solenoid winding , and in the motor , the teeth around the winding wire is called the coil or phase .6. index termsStatic index terms1, number of phases : produce different on pole N, S magnetic excitation coil pairs. Common m said .2, Beats: cyclical changes in the magnetic field required to complete a number of pulses or conductive state with n, or refer to the motor turned a pitch angle required number of pulses to four-phase motor, for example , there are four ways with four -run shot that AB-BC-CD-DA-AB, four-phase eight-shot operation That way A-AB-B-BC-C-CD-D-DA-A. 3, step angle : corresponds to a pulse signal , the angular displacement of the rotor turn is repre sented by θ. θ = 360 degrees / ( number of rotor teeth * run shot ) to the conventional two , four-phase , the rotor teeth 50 teeth motor, for example . Four beats running step angle is θ = 360 degrees / ( 50 * 4 ) = 1.8 degrees ( commonly known as the full step ) , eight-shot operation step angle of θ = 360 degrees / ( 50 * 8 ) = 0.9 degrees ( commonly known as half-step ) .4, the detent torque : motor is not energized in the state itself locked rotor torque ( harmonics and mechanical error by the magnetic field caused by the tooth ) .5, static torque : motor at rated static electricity effect, the motor doesnot rotates when the motor shaft locking torque. This moment is a measure of the volume of the standard motor , regardless of the driving voltage and driving power supply. Although static torque is proportional to the electromagnetic excitation ampere-turns , and set the air gap between the rotor teeth related, but over the use of the air gap decreases , increasing the excitation ampere-turns to increase the static torque is not desirable, this will cause motor heating and mechanical noise.Dynamic Indicators term1,step angle accuracy: stepper motor turned every error between the actual value and the theoretical value of a step angle . Expressed as a percentage : error / step angle * 100 %. Different running different beats its value , when the four -run shot in the 5% ,eight shot should run less than 15 %.2, step : the number of steps the motor running operation does not mean that the theoretical number of steps . Called out of step .3, the offset angle: rotor stator teeth tooth axis shift axis angle , the motor is running there must be offset angle , angle error generated by the imbalance , driven by subdivision can not be solved .4, he maximum no-load starting frequency : motor in the form of a drive voltage and rated current, in the case without the load, the maximum frequency can directly start .5, the operating frequency of the maximum load : the motor in the form of a drive voltage and rated current, the maximum speed of the motor with no load frequency .6, running torque characteristics : Measured motor running undercertain test conditions the output torque versus frequency curve is called the running torque-frequency characteristic , which is the motor of many dynamic curve of the most important , but also the fundamental basis for the motor selection.Other features include inertia frequency characteristics, starting frequency characteristics. Once the motor is selected, the static torque of the motor is determined , and dynamic moment is not the case , the dynamic torque motor depends on the average current ( rather than static current ) motor is running , the average current , the greater the motor output torque that the motor frequency characteristics of the harder . For the average current, the drive voltage to maximize the use of small high-current inductor motor .7, the resonance point of the motor : stepper motor has a fixed resonance region , two , four-phase Induction resonance zone is generally between 180-250pps ( step angle of 1.8 degrees ) , or about 400pps ( step angle 0.9 degrees ) , the higher the motor drive voltage , motor current increases, the lighter the load , motor size smaller, the upward shift resonance region , and vice versa , so that the motor output torque is large , and the entire system without losing step noise reduction , general working point should shift more resonance region .8, motor reversing control : the timing of when the motor windings are energized for the forward , the timing is energized when AB-BC-CD-DA or () DA-CD-BC-AB or ( ) when inverted.7. features characteristicThe main features1, the general accuracy of the stepper motor step angle of 3-5 % , and does not accumulate.2, the appearance of the stepper motor maximum temperature allowed . First, make a stepper motor temperature magnetic motor demagnetization ,Resulting in the loss of torque down even further , so the maximum temperature of the motor should be allowed depending on the appearance of magnetic motor demagnetization points ; generally speaking, magnetic demagnetization points above 130 degrees Celsius , and some even as high as 200 degrees Celsius above , so the stepper motor surface temperature at 80-90 degrees Celsius completely normal .3, stepper motor torque will increase with the speed of decline .When the stepping motor rotates , the inductance of the motor windings of each phase will form a counter electromotive force ; the higher the frequency, the greater the back EMF . In its role, the motor with frequency ( or speed ) increases the phase current is reduced , resulting in decreased torque .4, the stepper motor can operate normally at low , but if more than a certain speed will not start , accompanied by howling.Stepper motor has a technical parameter : load starting frequency , ie stepper motor under no-load conditions to start the normal pulse frequency , if the pulse frequency is higher than this value, the motor does not start properly , you may lose steps or stall . Under a load , the starting frequency should be lower . If you want the motor to achieve high-speed rotation , the pulse frequency should speed up the process ,which starts at lower frequencies , and then rise to the hope that at a certain acceleration frequency ( motor speed rise from low speed ) . Stepper motor with its remarkable features in the era of digital manufacturing plays a significant purpose. Along with improving the different development of digital technology and the technology itself, stepper motor , stepper motors will be applied in more fields .Key FeaturesA stepping motor can be operated must be added before the drive , the drive signal is a pulse signal to be no pulse when the stepping motor is stationary, if the addition of a suitable pulse signal will at a certain angle ( called a step angle ) is rotated. Rotational speed and the pulse frequency is proportional to .2, phase stepper motor step angle of 7.5 degrees, 360 degrees around , you need to complete the 48 pulses .3, stepper motor with instant start and stop the rapid superior characteristics .4, change the order of the pulse , you can easily change the direction of rotation .Therefore , printers , plotters , robotics and other equipment to the stepper motor driven core .8. speed methodStepper motor pulse signal is converted to angular displacement or linear displacement .First, the overload is good. Its speed independent of load size , unlikeordinary motor when the load increase rate decline occurs when using the stepper motor speed and position , there are stringent requirements.The second is easy to control. Stepper motors are "steps" as a unit rotation , digital features more obvious .Third, the whole structure is simple . Traditional mechanical speed and position control structure is complicated , difficult to adjust after using stepper motors , which makes it simple and compact structure . Motor rotation speed is converted into a voltage , and passed as a feedback signal to the input terminal . Tacho is an auxiliary motor , the motor is installed at the end of the ordinary speed DC motor , the voltage generated by the motor speed feedback to the DC power supply, DC motor speed control to achieve the purpose .9. function module designThis module can be divided into the following three parts:· SCM system : control of stepper motors ;· Peripheral circuits : PIC microcontroller interface circuit and stepper motors ;· PIC procedure : Write SCM stepper electric power machine interface program to achieve output of the triangular wave signal.( 1 ) stepper motor and microcontroller interface .SCM is the excellent performance of the control processor, stepper motor control , interface components must have the following features.① voltage isolation .SCM work at 5V, while the stepper motor is working in dozens of V, or even higher. Once the voltage to the microcontroller series stepper motor , it will damage the microcontroller ; signals would interfere with chip stepper motor , the system may also lead to errors in the work , so the interface device must have isolation .② messaging functions.Interface components should be able to pass information to the microcontroller stepper motor control circuit generates control information needed work , corresponding to different ways of working, interface components should be able to produce a corresponding job control waveform.③ produce different frequencies required .To the stepping motor at different speeds to suit different purposes , interface components should produce different operating frequencies . ( 2 ) V oltage Isolation interface.Isolation voltage isolation interface dedicated to the low-pressure part of the microcontroller and the stepper motor drive circuit high-voltage part , to ensure that they work properly.V oltage pulse transformer isolation interface or optical isolator is basically the use of optical isolators. Microcontroller output signal can be sent directly to the TTL gate or base of the transistor , and then driven by the transistor optocoupler devices emitting diodes.Light -emitting diodes on the opto-coupler devices inside the photodiode , converted into electrical signals , go drive a stepper motor power amplifier circuit , current amplification interface is a stepper motoramplifier circuit preamplifier circuit . Its role is to optical isolator output signal current amplification in order to provide enough power amplifier circuit drive current .( 3 ) Work interface and frequency generator .MCU controlled stepper motor requires the input and output interfaces for controlling stepper motors using three I / 0 lines, this time, the microcontroller I / O port RA0, RAI, RA2 control three-phase stepping motor .10. advantages and defectsAdvantage1, the angle of rotation of the motor is proportional to the number of pulses ;2, when the motor is stopped with a maximum torque ( when winding excitation time ) ;3, the accuracy of each step in the three percent to five percent , but the error will not accumulate to the next step and thus a better position accuracy and repeatability movement ;4, excellent response from the stop and reverse ;5, since there is no brush , high reliability, and therefore the life of the motor depends only on bearing life ;6, only the response of the motor is determined by the digital input pulse , which can be open-loop control, which makes the structure of the motor can be relatively simple and cost control ;7, only the load can be connected directly to a very low speed synchronous rotation on the shaft of the motor ;8, since the speed is proportional to the pulse frequency , and thus a relatively wide speed range.Defect1, if not properly controlled prone resonance ;2, the high speed operation is difficult ;3, it is difficult to obtain a large torque ;4, there is no advantage, low energy efficiency in terms of volume and weight ;5, more than the load will destroy the synchronization , will be issued when the high speed vibration and noise .11. drive methodStepper motors can be connected directly to the power frequency AC or DC power source to work , but must use a dedicated stepper motor driver , which occurs by the pulse control unit , power drive unit , the protection unit and so on. Stepper motor drive unit with direct coupling , can also be interpreted as a stepper motor controller microprocessor power connector.12. drive requirements1, can provide rapid current rise and fall times ,Current waveform as close as possible to make a rectangle .With a cut-off period for the release of the current flow loop to reducethe back electromotive force at both ends of the windings and accelerate the current decay .2, has a high rhyme power and efficiency.Stepper motor driver , which is a pulse signal into the control system of the angular displacement of the stepper motor , or : a control signal for each pulse issued by the stepper motor drive of a step angle of rotation . That frequency is proportional to the speed of the stepper motor pulse signal. So to control the frequency pulse signal , the speed of the motor can be accurately ; controlled stepper pulse number , you can pinpoint the motor . There are a lot of stepper motor drive , power requirements should be based on the actual reasonable choice drive.13. Major ApplicationsSelect the stepper motorThere are step angle stepping motor ( related to the number of phases ) , static torque , and the current composition of the three elements .Once identified three elements , the stepper motor model has determined.1, step angle selectionStep motor angle accuracy depends on the load requirements , the minimum resolution of the load ( equivalent ) conversion to the motor shaft , the number of angles ( including gear ) for each equivalent motor should go. Step motor angle should be equal to or less than this angle. Step angle stepping motor on the market are generally 0.36 °/ 0.72 °( five-phase motors ) , 0.9 degrees / 1.8 degrees ( two , four-phase motor ) , 1.5 degrees / 3 degrees ( three-phase motors ) and so on.2, static moment of choiceDynamic torque stepper motor is difficult to determine all of a sudden , we tend to first determine the static torque of the motor. The choice is based on static torque load on the motor work, and the inertia of the load and the load can be divided into two kinds of friction load . Single inertia load and a single load is not present in friction . When direct start ( generally low ) when the two loads are to be considered , the main consideration inertial load during acceleration start, constant run into just consider friction loads. Under normal circumstances, the static torque should be 2-3 times the load of friction is good, static torque Once selected, the machine base and be able to determine the length of the motor down ( geometry ) .3, the current selectionLike static torque motors , due to the different current parameters , their operating characteristics vary greatly, can be based on torque-frequency characteristic curve , determine the motor current . Application note points1, the stepper motor used in low-speed situations --- rpm less than 1000 rpm , ( 0.9 degrees 6666PPS), preferably using 1000-3000PPS (0.9 degrees ) between , can make it work here through deceleration devices, At this high electrical efficiency, low noise ;2, the stepper motor is best not to use the state of the whole step , whole step when the state of vibration ;3, due to historical reasons, only a nominal voltage of 12V 12V motors , the voltage value other than the motor drive voltage V value, drive selectdriving voltage according to ( suggestions : 57BYG DC 24V-36V, 86BYG DC 50V, 110BYG using higher than the DC 80V), of course, in addition to 12 volts 12V constant voltage driver can also use other external power supply, but to consider the temperature rise ;4, the moment of inertia of the load should choose a large frame size motors ;5, when compared with the high-speed motor or high inertia loads , generally do not start working speed , and the use of up- speed gradually , without losing a step motor , two noise can be reduced while improving the positioning accuracy is stopped ;6, high-precision, through mechanical reduction should improve motor speed , or high number of sub-drive to solve, 5 -phase motor can also be used , but the prices of its entire system more expensive , less manufacturer , which is eliminated argument is the layman ;7, the vibration motor in the region should not , should be resolved by changing the voltage , current, or add some damping ;8, motor 600PPS (0.9 degrees ) following work should be low current , high inductance , low voltage to drive ;9, after the first election should follow the principle of the drive motor option .步进电机步进电机是将电脉冲信号转变为角位移或线位移的开环控制元步进电机件。
外文翻译--步进电机运动控制系统设计
密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Stepper Motor Motion Control System Design 译文标题步进电机运动控制系统设计作者所在系别机械工程系作者所在专业机械设计制造及其自动化作者所在班级作者姓名作者学号指导教师姓名指导教师职称完成时间2012 年 2 月的个数严格成正比，在时间上与输入脉冲同步，因此只要控制输入脉冲的数量、频率及电动机绕组通电的相序，便可获得所需的转角、转速及转动方向。
在没有脉冲输入时，在绕组电源的激励下气隙磁场能使转子保持原有位置处于定位状态。
因此非常适合于单片机控制。
步进电机还具有快速启动、精确步进和定位等特点，因而在数控机床，绘图仪，打印机以及光学仪器中得到广泛的应用。
步进电动机已成为除直流电动机和交流电动机以外的第三类电动机。
传统电动机作为机电能量转换装置，在人类的生产和生活进入电气化过程中起着关键的作用。
步进电机可以作为一种控制用的特种电机，利用其没有积累误差(精度为100%)的特点，广泛应用于各种开环控制。
现在比较常用的步进电机包括反应式步进电机（VR）、永磁式步进电机（PM）、混合式步进电机（HB）和单相式步进电机等。
一步进电机的工作原理步进电机是一种用电脉冲进行控制 ,将电脉冲信号转换成相位移的电机 ,其机械位移和转速分别与输入电机绕组的脉冲个数和脉冲频率成正比 ,每一个脉冲信号可使步进电机旋转一个固定的角度.脉冲的数量决定了旋转的总角度 ,脉冲的频率决定了电机运转的速度.当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”)，它的旋转是以固定的角度一步一步运行的。
可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。
二步进电机详细调速原理步进电机的调速一般是改变输入步进电机的脉冲的频率来实现步进电机的调速，因为步进电机每给一个脉冲就转动一个固定的角度，这样就可以通过控制步进电机的一个脉冲到下一个脉冲的时间间隔来改变脉冲的频率，延时的长短来具体控制步进角来改变电机的转速，从而实现步进电的调速。
电机 电子 运动控制 伺服系统 英语单词表
Motor 电机Supply提供Connector连接口Feedback反馈CAN (Controller Area Network)总线Brushless motor无刷电机Step motor步进电机Brushless 无刷Brush 刷子Phase相位Switch转换Sensor传感器Encoder编码器power supply电源供应器supply供应AC （Alternating Current）交流电DC （direct current）直流电input power输入功率input 输入outputs 输出current 电流voltage 电压Servo伺服Driver 驱动器Logic逻辑Vector矢量Control 控制Open 打开Closed 关闭Typical Applications 典型应用Motion Control Libraries运动控制库Fully digital intelligent全数字智能graphical development environment 图形开发环境Features 特征Execute 实行Complex 复杂的Powerful强大的Suitable适用、相配的Compatible兼容的Programmable可编程的Analog模拟的Digital 数字的User manual 使用手册Family家庭New Member 新成员Dynamic torque动态转矩OPEN LOOP开环控制PPS （pulse per second）每秒脉冲数Power stage 功率电路Uni-plar单极Bi-polar双极型PM （Permanent Magnet）永久磁铁Sleeve metal 金属滑动轴承Multi-Stack 串联多级FDD （Floppy Disk Drive ）软盘驱动器RM （Ring-permanent-Magnet）圆环形磁铁Sawyer 索耶Outer rotor motor 或inverted motor外转子电机Pull-out-torque 失步转矩Pull-in-torque牵入转矩Over-shoot超越角Under-shoot 返回角Setting time 稳定时间Sleeve metal滑动轴承Pre-load 预紧力Chopper 恒电流斩波器Step 步Slow up 慢下来Speed up 加速Speed速度Position位置Error误差Cogging齿槽转矩Hall sensor霍尔传感器Continuous Stall Current 持续堵转电流Maximum Mechanical Speed最大的电机转速Continuous Current额定电流Peak Current峰值电流Tuning调整Loop 环Connector Type连接类型Mating结合CONTROL SUPPLY控制电源/输入电源Table表格Protection 保护Male 男的公头Female 女的母头Provides 提供. Pin针Pinout 引出线Motion Control 运动控制Windows 窗口wall-mounted 固定在墙上absence 失去acceleration 加速accept 接受access 存取accomplish 完成,达到accuracy 准确,精确acid 酸性,酸的action 动作Active power 有功功率address 地址adequate 适当的，充分的adjust 调整，校正after 以后air 风，空气Alarm 报警Ambient 周围的，环境的Ambient temp 环境温度ammeter 电流表，安培计Ampere 安培amplifier 放大器Analog 模拟Analog input 模拟输入Angle 角度Anion 阴离子Anode 阳极，正极anticipate 预期，期望Application program 应用程序Arc 电弧，弧光Area 面积，区域Ash 灰烬，废墟assemble 安装，组装Attempt 企图Automatic AUTO 自动Auxiliary AUX 辅助的Available 有效的,可用的Avoid 避免,回避Avometer 万用表,安伏欧表计Axial 轴向的Axis 轴,轴线Axis disp protection 轴向位移，保护Axle 轴，车轴，心捧Back 背后，反向的Back up 支持，备用Back ward 向后Baffle 隔板Balance 平衡Ball 球Bar 巴，条杆base 基础、根据Base load 基本负荷Base mode 基本方式Battery 电池before 在…之前bell 铃Belt 带，皮带Black 黑色Blow 吹Blow down 排污blue 蓝色bore 孔，腔Boot strap 模拟线路，辅助程序bottom 底部brash 脆性，易脆的bracket 支架，托架，括号breadth 宽度break 断开，断路brush 电刷，刷子bucket 斗，吊斗built 建立bump 碰，撞击busbar 母线button 按钮cabinet 柜cable 电缆calculator 计算器caliber 管径、尺寸、大小calorie 卡caloric 热的、热量Caloric value 发热量、热值calorific 发热的、热量的Calorific efficiency 热效率cancel 取消、省略capacitance CAPAC 电容Capacitive reactance 容抗capacity 容量、出力、能量card （电子）板、卡cascade CAS 串级Case pipe 套管casine 壳、箱casual 偶然的、临时、不规则的cathode 阴板、负极Center 中心Chamber 办公室、会议室Change 改变Charge 负荷、充电、加注Check 检查Chest 室Chief 主要的、首长、首领Circuit 电路Circuit diagram 电路图Clamp 夹具、钳Clarification 澄清Class 类、等级、程度Clean 清洁的、纯净的Cleanse 净化、洗净、消毒Clear 清除Clockwise 顺时针、右旋的Close 关闭Closed-loop 闭环Coal 煤Coal dust 煤粉Coil 线圈Cold 冷air 大气风Collect 收集Colour 颜色Combin 合并、联合Combustion 燃烧Command 命令、指挥Commission 使投入、使投产Common 共同的、普通的Compensation 补偿Complexity 复杂Complete 完成Component 元件Compress 压缩Computer 计算机. Condensive reactance 容抗Condition 条件、状况Conduct 传导Conductivity 导电率Conference 会议、商讨、谈判Configure 组态Connection 联接Console 控制台Consult 商量、咨询、参考Consumption 消费、消耗Constant 恒定的Contact 触点Contactor 接触器、触头Contact to earth 接地、触地、碰地Content 目录Continuous 连续的Contract 合同Control CNTR/CNTPL 控制Control loop 控制环Controller 控制器Convection 对流Convertor 运输机、传输机. Cool 冷的Cooling 冷却Coordinate COORD 协调Copy 拷贝Core 铁心、核心、磁心Corner 角落Correction 修正、改正Corrosion 腐蚀Cost 价格、成本、费用Crane 起重机Critical 临界的Critical speed 临界速度Cube 立方（体）Curdle 凝固Current 电流、当前Cursor 光标Curve 曲线Custom 习惯、海关Cutter 切削工具Cyanic 青色、深蓝色Cycle 循环、周期、周波Cymometer 频率表. Damage 损坏、破坏Danger 危险、危险物Dank 潮湿Danger zone 危险区Data 数据Data base 数据库Date 日期Data pool 数据库Dead band 死区Decimeter 分米Deep 深度、深的、深Degree 度、等级Delay 延迟Delay time 延时Delete 删除Deposit 沉积结垢Description 说明、描述Destination 目标、目的地Detail 细节Detect 发现、检定Deviate 偏离、偏差Device 设备、仪器. Diagnosis 诊断Diagram 图形、图表Diameter 直径Diaphragm 膜片、隔板Dielectric 介质、绝缘的Difference 差异、差别、差额Diff press 差压Digital 数字的Digital electric hydraulic 电调Digital input/output 数字量输入／输出Dioxde 二氧化碳Direct current DC 直流（电）Disassembly 拆卸Disaster 事故、故障Disaster shutdown 事故停机Discharge 排除、放电、卸载Disk 磁盘Dispatcher 调度员Disk 磁盘Displacement 位移Display 显示、列屏Distance 距离. Disturbance 扰动Divided by 除以Design 设计、发明Division 分界、部门Division wall 分割屏Documentation 文件Door 门Dowel pin 定位销Down pipe 下降管Download 下载Downtime 停机时间Dozer 推土机Draft 通风、草图Drain pump 疏水泵Drain tank 疏水箱Drawing 图样、牵引Drill 钻孔、钻头、钻床Drive 驱动、强迫Drop 站Drum 汽包Dry 干、干燥Dust 灰尘. Duty 责任Dynamic 动态的Dynamometer 功率表Earth 大地Earth fault 接地故障Earth connector 接地线、接地Earth lead 接地线、接地Eccentricity 偏心、扰度Edit 编辑Efficiency 效率Ejection 射出Ejector 抽气器Electric 电的Elbow 弯管、弯头Electrical 电的、电气的Electrical machine 电机Electrode 电极Electronic 电子的、电子学的Electrostatic 静电的Element 元件、零件、单元Ellipse 椭圆Emergency decree 安规. Emerg off 事故停／关闭Employee 雇员Empty 排空Enclosure 外壳、包围End 末端、终结End cover 端盖Energize 激励、加电Energy 能、能量Energy meter 电度表Energy source 能源Enter 开始、使进入Entry 输入Equipment 设备Erase 删除Error 错误Event 事件Excess 超过、过度Exit 出口Expenditure 费用Expert 专家、能手Explosion 爆炸External 外部的、表面的. Extinguisher 灭火器Extend 扩展、延伸Exteral 外部的、表面的Factor 因素、因数Fahrenheit 华式温标Failure FAIL 失败FALSE 假的、错误的Fan 风扇、风机Fault 故障Features 特点Feed 馈、供给Feedback 反馈Feed forward 前馈Feed water 给水Fiber optic 光纤Field 磁场、现场Figure 数字、图案File 文件Final 最后的Fire 燃烧、火焰Fire-proof 耐火的、防火的Fire-fight 灭火. Fireproof 防火的、阻燃的First stage 第一级、首级Flame 火焰Flank 侧翼、侧面Flash lamp 闪光灯Flash light 闪光Flasher 闪光装置Flexible 灵活的、柔性的Flow 流量、流动Flue 烟道Format 形式、格式Follow 跟随Forbid 禁止Force 强制Forward 向前Free end 自由端Frequency 频率From 从、来自Front 前面的Fuel 燃料Fully 充分的、完全的Function 功能. Fuse 保险丝、熔断器Fuse holder 保险盒Gate 闸门Gateway 入口、途径Gauge 仪表、标准Gear 齿轮Generate 引起、产生Generator 发电机、发生器Gland 密封套Gland seal 轴封Goal 目的、目标Go on 继续Grease 图形Green 绿色Ground/earth 地、大地Group 组、群Hardware 硬件Hazardous 危险的、冒险的Hertz HZ 赫兹History 历史Hold 保持Home 家、处所Horse power 马力Hot 热的Hot air 热风Hour 小时Idiostaic 同电位的Idle 空载的、无效的Ignore 忽视Illustrate 说明Impedance 阻抗Import 进口、引入Impulse 脉冲、冲击、冲量Inch IN 英寸Index 索引、指示Indicator 指示器Individual 单个的、独立的Inductive reactance 感抗Input/output I/O 输入／输出Inductance 电感Induction motor 异步电动机Industry 工业Inhibit 禁止Initial 最初的Inlet 入口Input group 输入组Insert 插入Inside 内侧、内部Inspection 观察、检查Install 安装Instruction 说明书、指南、指导Instrument 仪器Insulator 绝缘子Intake 输入端、进线Integer 整数Integral 积分Intensity 强度Interface 接口Interference 干扰、干涉Interlock 联锁Intermediate 中间的Internal 内部的Interrogation 质问、问号Interval 间隔Invoice INV 发票、发货单、托运Invalid 无效的、有病的Isolation 隔离Job 工作Jumper 跳线、跨接Key 键销、钥匙、键槽Keyboard 键盘Kilovolt-ampere KVA 千伏安Kink 弯曲、缠绕Knack 技巧、窍门、诀窍Label 标号、标签Laboratory 实验室Ladder 梯子、阶梯Ladder diagram 梯形图Lamp 灯、光源Last 最后的Leak 泄漏（动词）Leakage 泄漏（名词）Left 左Length 长度Level 液位、水平Lifebelt 安全带、保险带Lift 提、升Light 光亮、点、点燃、照亮. Lightning 雷电Light run 空转Lightning arrestor 避雷器Limit LMT 极限、限制Limiter 限制器、限位开关Line 线、直线impedance 线路阻抗Linkage 连杆List 列表Liter 公升Load 负荷limit 限制Loading 加负荷Local 局部Lock 闭锁、密封舱、固定Logic 逻辑Long 长Loop 环、回路Loss 损失、减少Loss of excitation 励磁损失Loss of phase 失相Low 低Low-half 下半Lower 较低的、降低Lub oil 润滑油Magenta 品红色Magnet 磁Main steam 主蒸汽Make up 补充（补给）Makers works 制造厂Malfunction 出错、误动、失灵Management 管理、控制、处理Manhole 人孔、检查孔、出入孔Manometer 压力表Manual 手动、手册Mark 型号、刻度、标志、特征Mass memory 大容量存储器Master 主要、控制者Maximum 最高的、最大Mean 平均值、中间的Measure 量度、测量Mechanical 机械的、力学的Mechanism 机械、力学、方法Medial 中间的、平均的Mediate 间接的、调解Medium 装置、介质、工质Memory 存储Metal 金属Meter 集量器、仪表、米Method 方法、规律、程序Method of operation 运行方式Mica 云母Microcallipers 千分尺Middle MID 中间的Minimum 最小的Minus 减、负号Minus phase 负相位Minute 分钟Miss operation 误动作、误操作Mistake 错误、事故Mixture 混合物Modify 修改Modulating control 调节控制Module 模件Moisture 湿度、湿汽Monitor 监视器、监视. Mount 安装、固定Mountain cork 石棉Mouse 鼠标Move 移动Multimeter 万用表Multiplication 乘Name 名、名字Natural 自然的Naught line 零线Negative 负的Neon tester 试电表Network 网络Neutral 中性的Neutral point 中性点Next 其次的Nipper 钳子、镊子Noise 噪音No-loading 空载Nominal power 额定功率Non-work 非工作的Normal 正常的、常规的Not available 无效、不能用Number 数字、号码、数目Number of turns 匝数Nut 螺母、螺帽Occur 发生Odd 奇数Office 办公室Oil 油On/off 开／关Onset 开始、发作Open 开、打开Open-air 露天的、开启的Open-loop 开环Open work 户外作业Operation 操作、运行Operational log 运行记录Operator 操作员Optimal 最优的、最佳的Optimal value 最佳值Optional 可选的Option switch 选择开关Original 初始的、原始的Out 出、出口Outage 停用Outlet 出口Output 产量、产品、输出Outside 外边、外面Over current 过流Over load 过负荷Overload protection 过载保护Over voltage 过压Overflow 溢流Overhead 顶部Override 超越Overspeed 超速Overview 概述、总述Oxygen 氧Pad 瓦、衬垫Page 页Panel 屏、盘Parameter 参数Part 部分、部件Password 口令Path 路线Peak 峰值Pendant 悬吊Perfect 完全的、理想的Performance 完成、执行、性能Periodic 周期的、循环的Peripheral 周围的Permanent 永久的、持久的Permit 允许Petrol 汽油Phase PH 阶段、状态、方面、相Phase angle 相角Phase not together 缺相、失相Phase sequence 相序Phase-in 同步Piezometer 压力计Pilot 导向、辅助的、控制的Pilot bearing 导向轴承Pipe 管、管道Plan 计划Plant 工场、车间Plastics 塑料Plug 塞子、栓、插头Plug socket 插座Plus 加Plyers 钳子、老虎钳Point 点Phase voltage 相电压Pole 机、柱Pollution 污染Pop valve 安全阀、突开阀Portion 一部分Position POS 位置Positive 确定的、正的、阳性的Potable water 饮用水Pound LB 磅Power PWR 功率、电源Power factor 功率因子Power plant 电厂Preliminary 准备工作Present 出现Preset 预设、预置Pressure PRES 压力Primary 初级的、一次的Prime 首要的Printer 打印机Principle 原理、原则Priority 优先级、优点Probe 探头Process 过程、方法Processing time 处理时间Program 程序Programmable 可编程的Prohibit 禁止Protection PROT 保护Potential transformer PT 电压互感器Psig 磅／平方英寸（表压力）Psia 磅/平方英寸(绝对压力)Pulse 脉冲、脉动Pump 泵Purge 净化、吹扫Purify 纯度Purpose 目的、用途Push button 按钮Put into operation 投入运行Pyrology 热工学Q-line Q线Quad 回芯组线Quality 质量Quartz 石英、水晶Query 询问、查询Quick 快Quick open 快开Quit 停止、离开、推出Rack earth 机壳接地Radial 径向的、半径的Radication 开方Radiation fin 散热片Raise 升高Range 范围、量程Rap 敲打Rapid charge 快速充电Rated 额定的、比率的Rated conditions 额定条件Rated power 额定功率Ratio 比率Raw material 原材料Ray 光线、射线Reactance 电抗、反作用Reactive capacity 无功容量Reactive power 无功功率Ready 准备好Real power 有效功率Real time 实时的Rear 后面Recipe 处方、配方Recirculate 再循环Recovery 恢复、再生Rectifier 整流器Red 红色Reduction 还原、缩小、降低Reference REF 参考、参照、证明书Reflux 倒流、回流Region 地域、领域Regulate 调节、控制Relative REL 相对的Release 释放Reliability 可靠的、安全的Relief 去载、卸载、释放、解除Renewal 更新、更换Repair 修理Repairer 修理工、检修工Repeat 重复、反复Replacement parts 备件、替换零件Request REO 请求Require 要求Reserve parts 备件Reserved 备用的Reset 复位Resistance 阻力、电阻Resonate 谐振、调谐Response 响应Return 返回Reverse rotation 反转Review 检查Rig 安装、装配、调整Right 右Ring 环Root 跟Rotating 旋转Rotor 转子Run 运行Run back 返回Safe 安全的、可靠的、稳定的. 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步进电机的的基本原理中英文翻译
步进电机的的基本原理中英文翻译English translation of the stepping motor basic principle步进电机作为执行元件,是机电一体化的关键产品之一,广泛应用在各种自动化控制系统中。
随着微电子和计算机技术的发展,步进电机的需求量与日俱增,在各个国民经济领域都有应用。
The stepping motor as executing components, electromechanical integration is one of the key products, widely used in a variety of automatic control systems. With the development of microelectronics and computer technology, the stepper motor demand grow with each passing day, has been applied in various fields of the national economy.步进电机是一种将电脉冲转化为角位移的执行机构。
当步进驱动器接收到一个脉冲信号,它就驱动步进电机按设定的方向转动一个固定的角度(称为“步距角”),它的旋转是以固定的角度一步一步运行的。
可以通过控制脉冲个数来控制角位移量,从而达到准确定位的目的;同时可以通过控制脉冲频率来控制电机转动的速度和加速度,从而达到调速的目的。
步进电机可以作为一种控制用的特种电机,利用其没有积累误差(精度为100%)的特点,广泛应用于各种开环控制。
Stepping motor is a kind of electrical pulses into angular displacement of the implementing agencies. When stepping drive receives a pulse signal, it drives stepper motor rotate in the direction set by a fixed angle ( called the " step " ), it is the rotation at a fixed angle step by step operation. The number of pulses to control the amount of angular displacement through the control, so as to achieve the purpose of accurate positioning; also can control the pulse frequency to control motor rotation speed and acceleration, so as to achieve the purpose of speed. Special motor stepper motor control can be used as a, using its no accumulation of error ( accuracy of 100% ) characteristics, widely used in all kinds of open-loop control.现在比较常用的步进电机包括反应式步进电机(VR)、永磁式步进电机(PM)、混合式步进电机(HB)和单相式步进电机等。
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步进电机的振荡、不稳定以及控制摘要：本文介绍了一种分析永磁步进电机不稳定性的新颖方法。
结果表明，该种电机有两种类型的不稳定现象：中频振荡和高频不稳定性。
非线性分叉理论是用来说明局部不稳定和中频振荡运动之间的关系。
一种新型的分析介绍了被确定为高频不稳定性的同步损耗现象。
在相间分界线和吸引子的概念被用于导出数量来评估高频不稳定性。
通过使用这个数量就可以很容易地估计高频供应的稳定性。
此外，还介绍了稳定性理论。
广义的方法给出了基于反馈理论的稳定问题的分析。
结果表明，中频稳定度和高频稳定度可以提高状态反馈。
关键词：步进电机，不稳定，非线性，状态反馈。
1. 介绍步进电机是将数字脉冲输入转换为模拟角度输出的电磁增量运动装置。
其内在的步进能力允许没有反馈的精确位置控制。
也就是说，他们可以在开环模式下跟踪任何步阶位置，因此执行位置控制是不需要任何反馈的。
步进电机提供比直流电机每单位更高的峰值扭矩;此外，它们是无电刷电机，因此需要较少的维护。
所有这些特性使得步进电机在许多位置和速度控制系统的选择中非常具有吸引力，例如如在计算机硬盘驱动器和打印机，代理表，机器人中的应用等.尽管步进电机有许多突出的特性，他们仍遭受振荡或不稳定现象。
这种现象严重地限制其开环的动态性能和需要高速运作的适用领域。
这种振荡通常在步进率低于1000脉冲/秒的时候发生，并已被确认为中频不稳定或局部不稳定[1]，或者动态不稳定[2]。
此外，步进电机还有另一种不稳定现象，也就是在步进率较高时，即使负荷扭矩小于其牵出扭矩，电动机也常常不同步。
该文中将这种现象确定为高频不稳定性，因为它以比在中频振荡现象中发生的频率更高的频率出现。
高频不稳定性不像中频不稳定性那样被广泛接受，而且还没有一个方法来评估它。
中频振荡已经被广泛地认识了很长一段时间，但是，一个完整的了解还没有牢固确立。
这可以归因于支配振荡现象的非线性是相当困难处理的。
大多数研究人员在线性模型基础上分析它[1]。
尽管在许多情况下，这种处理方法是有效的或有益的，但为了更好地描述这一复杂的现象，在非线性理论基础上的处理方法也是需要的。
例如，基于线性模型只能看到电动机在某些供应频率下转向局部不稳定，并不能使被观测的振荡现象更多深入。
事实上，除非有人利用非线性理论，否则振荡不能评估。
因此，在非线性动力学上利用被发展的数学理论处理振荡或不稳定是很重要的。
值得指出的是，Taft和Gauthier[3]，还有Taft和Harned[4]使用的诸如在振荡和不稳定现象的分析中的极限环和分界线之类的数学概念，并取得了关于所谓非同步现象的一些非常有启发性的见解。
尽管如此，在这项研究中仍然缺乏一个全面的数学分析。
本文一种新的数学分被开发了用于分析步进电机的振动和不稳定性。
本文的第一部分讨论了步进电机的稳定性分析。
结果表明，中频振荡可定性为一种非线性系统的分叉现象（霍普夫分叉）。
本文的贡献之一是将中频振荡与霍普夫分叉联系起来，从而霍普夫理论从理论上证明了振荡的存在性。
高频不稳定性也被详细讨论了，并介绍了一种新型的量来评估高频稳定。
这个量是很容易计算的，而且可以作为一种标准来预测高频不稳定性的发生。
在一个真实电动机上的实验结果显示了该分析工具的有效性。
本文的第二部分通过反馈讨论了步进电机的稳定性控制。
一些设计者已表明，通过调节供应频率[ 5 ]，中频不稳定性可以得到改善。
特别是Pickup和Russell [ 6，7]都在频率调制的方法上提出了详细的分析。
在他们的分析中，雅可比级数用于解决常微分方程和一组数值有待解决的非线性代数方程组。
此外，他们的分析负责的是双相电动机，因此，他们的结论不能直接适用于我们需要考虑三相电动机的情况。
在这里，我们提供一个没有必要处理任何复杂数学的更简洁的稳定步进电机的分析。
在这种分析中，使用的是d-q模型的步进电机。
由于双相电动机和三相电动机具有相同的d-q模型，因此，这种分析对双相电动机和三相电动机都有效。
迄今为止，人们仅仅认识到用调制方法来抑制中频振荡。
本文结果表明，该方法不仅对改善中频稳定性有效，而且对改善高频稳定性也有效。
2. 动态模型的步进电机本文件中所考虑的步进电机由一个双相或三相绕组的跳动定子和永磁转子组成。
一个极对三相电动机的简化原理如图1所示。
步进电机通常是由被脉冲序列控制产生矩形波电压的电压源型逆变器供给的。
这种电动机用本质上和同步电动机相同的原则进行作业。
步进电机主要作业方式之一是保持提供电压的恒定以及脉冲频率在非常广泛的范围上变化。
在这样的操作条件下，振动和不稳定的问题通常会出现。
图1.三相电动机的图解模型用q–d框架参考转换建立了一个三相步进电机的数学模型。
下面给出了三相绕组电压方程v a = Ria+ L*dia/dt − M*dib/dt − M*dic/dt + dλpma/dt ,v b = Rib+ L*dib/dt − M*dia/dt − M*dic/dt + dλpmb/dt ,v c = Ric+ L*dic/dt − M*dia/dt − M*dib/dt + dλpmc/dt , (1)其中R和L分别是相绕组的电阻和感应线圈，并且M是相绕组之间的互感线圈。
λpma, λpmb and λpmc是应归于永磁体的相的磁通，且可以假定为转子位置的正弦函数如下λpma = λ1 sin(Nθ),λpmb = λ1 sin(Nθ− 2/3),λpmc = λ1 sin(Nθ - 2/3), (2) 其中N是转子齿数。
本文中强调的非线性由上述方程所代表，即磁通是转子位置的非线性函数。
使用Q ,d转换，将参考框架由固定相轴变换成随转子移动的轴（参见图2）。
矩阵从a,b,c框架转换成q,d框架变换被给出了[8](3)例如，给出了q,d参考里的电压(4)在a,b,c参考中，只有两个变量是独立的（ia + ib+ ic= 0），因此，上面提到的由三个变量转化为两个变量是允许的。
在电压方程（1）中应用上述转换，在q,d 框架中获得转换后的电压方程为v q = Riq+ L1*diq/dt + NL1idω + Nλ1ω,v d = Rid+ L1*did/dt −NL1iqω, (5)图2，a,b,c和d,q参考框架其中L1 = L + M，且ω是电动机的速度。
有证据表明,电动机的扭矩有以下公式T = 3/2Nλ1iq. (6)转子电动机的方程为J*dω/dt = 3/2*Nλ1iq−Bfω–Tl , (7)如果Bf是粘性摩擦系数，和Tl代表负荷扭矩（在本文中假定为恒定）。
为了构成完整的电动机的状态方程，我们需要另一种代表转子位置的状态变量。
为此，通常使用满足下列方程的所谓的负荷角δ[8]Dδ/dt = ω−ω, (8)其中ω是电动机的稳态转速。
方程（5），（7），和（8）构成电动机的状态空间模型，其输入变量是电压vq 和vd.如前所述，步进电机由逆变器供给，其输出电压不是正弦电波而是方波。
然而，由于相比正弦情况下非正弦电压不能很大程度地改变振荡特性和不稳定性（如将在第3部分显示的，振荡是由于电动机的非线性），为了本文的目的我们可以假设供给电压是正弦波。
根据这一假设，我们可以得到如下的v q 和vdvq= Vmcos(Nδ) ,vd= Vmsin(Nδ) , (9)其中Vm是正弦波的最大值。
上述方程，我们已经将输入电压由时间函数转变为状态函数，并且以这种方式我们可以用自控系统描绘出电动机的动态，如下所示。
这将有助于简化数学分析。
根据方程（5），（7），和（8），电动机的状态空间模型可以如下写成矩阵式Ẋ = F(X,u) = AX + Fn(X) + Bu , (10) 其中X = [iq id ω δ] T , u = [ω1 Tl] T 定义为输入，且ω1 = N ω0 是供应频率。
输入矩阵B 被定义为矩阵A 是F(.)的线性部分，如下F n (X)代表了F(.)的线性部分，如下输入端u 独立于时间，因此，方程（10）是独立的。
在F(X,u)中有三个参数，它们是供应频率ω1，电源电压幅度V m 和负荷扭矩T l 。
这些参数影响步进电机的运行情况。
在实践中，通常用这样一种方式来驱动步进电机，即用因指令脉冲而变化的供应频率ω1来控制电动机的速度，而电源电压保持不变。
因此，我们应研究参数ω1的影响。
3.分叉和中频振荡，设ω=ω0，得出方程（10）的平衡且φ是它的相角，φ = arctan(ω1L1/R) . (16) 方程（12）和（13）显示存在着多重均衡，这意味着这些平衡永远不能全局稳定。
人们可以看到，如方程（12）和（13）所示有两组平衡。
第一组由方程（12）对应电动机的实际运行情况来代表。
第二组由方程（13）总是不稳定且不涉及到实际运作情况来代表。
在下面，我们将集中精力在由方程（12）代表的平衡上。
附件2：外文原文Oscillation, Instability and Control of Stepper MotorsLIYU CAO and HOWARD M. SCHWARTZDepartment of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive,Ottawa, ON K1S 5B6, Canada(Received: 18 February 1998; accepted: 1 December 1998) Abstract. A novel approach to analyzing instability in permanent-magnet stepper motors is presented. It is shown that there are two kinds of unstable phenomena in this kind ofmotor: mid-frequency oscillation andhigh-frequency instability. Nonlinear bifurcation theory is used to illustrate the relationship between local instability and midfrequency oscillatory motion. A novel analysis is presented to analyze the loss of synchronism phenomenon, which is identified as high-frequency instability. The concepts of separatrices and attractors in phase-space are used to derive a quantity to evaluate the high-frequency instability. By using this quantity one can easily estimate the stability for high supply frequencies. Furthermore, a stabilization method is presented. A generalized approach to analyze the stabilization problem based on feedback theory is given. It is shown that the mid-frequency stabilityand the high-frequency stability can be improved by state feedback. Keywords: Stepper motors, instability, nonlinearity, state feedback.1. IntroductionStepper motors are electromagnetic incremental-motion devices which convert digital pulse inputs to analog angle outputs. Their inherent stepping ability allows for accurate position control without feedback. That is, they can track any step position in open-loop mode, consequently nofeedback is needed to implement position control. Stepper motors deliver higher peak torque per unit weight than DC motors; in addition, they are brushless machines and therefore require less maintenance. All of these properties have made stepper motors a very attractive selection in many position and speed control systems, such as in computer hard disk drivers and printers, XY-tables, robot manipulators, etc.Although stepper motors have many salient properties, they suffer from an oscillation or unstable phenomenon. This phenomenon severely restricts their open-loop dynamic performance and applicable area where high speed operation is needed. The oscillation usually occurs at stepping rates lower than 1000 pulse/s, and has been recognized as a mid-frequency instability or local instability [1], or a dynamic instability [2]. In addition, there is another kind of unstable phenomenon in stepper motors, that is, the motors usually lose synchronism at higher stepping rates, even though load torque is less than their pull-out torque. This phenomenon is identified ashigh-frequency instability in this paper, because it appears at much higher frequencies than the frequencies at which the mid-frequency oscillation occurs. The high-frequency instability has not been recognized as widely as mid-frequency instability, and there is not yet a method to evaluate it.Mid-frequency oscillation has been recognized widely for a very long time, however, a complete understanding of it has not been well established. This can be attributed to the nonlinearity that dominates the oscillation phenomenon and is quite difficult to deal with.384 L. Cao and H. M. SchwartzMost researchers have analyzed it based on a linearized model [1]. Although in many cases, this kind of treatments is valid or useful, a treatment based on nonlinear theory is needed in order to give a better description on this complex phenomenon. For example, based on a linearized model one can only see that the motors turn to be locally unstable at some supply frequencies, which does not give much insight into the observed oscillatoryphenomenon. In fact, the oscillation cannot be assessed unless one uses nonlinear theory.Therefore, it is significant to use developed mathematical theory on nonlinear dynamics to handle the oscillation or instability. It is worth noting that Taft and Gauthier [3], and Taft and Harned [4] used mathematical concepts such as limit cycles and separatrices in the analysis of oscillatory and unstable phenomena, and obtained some very instructive insights into the socalled loss of synchronous phenomenon. Nevertheless, there is still a lack of a comprehensive mathematical analysis in this kind of studies. In this paper a novel mathematical analysis is developed to analyze the oscillations and instability in stepper motors.The first part of this paper discusses the stability analysis of stepper motors. It is shown that the mid-frequency oscillation can be characterized as a bifurcation phenomenon (Hopf bifurcation) of nonlinear systems. One of contributions of this paper is to relate the midfrequency oscillation to Hopf bifurcation, thereby, the existence of the oscillation is proved theoretically by Hopf theory. High-frequency instability is also discussed in detail, and a novel quantity is introduced to evaluate high-frequency stability. This quantity is very easyto calculate, and can be used as a criteria to predict the onset of the high-frequency instability. Experimental results on a real motor show the efficiency of this analytical tool.The second part of this paper discusses stabilizing control of stepper motors through feedback. Several authors have shown that by modulating the supply frequency [5], the midfrequencyinstability can be improved. In particular, Pickup and Russell [6, 7] have presented a detailed analysis on the frequency modulation method. In their analysis, Jacobi series was used to solve a ordinary differential equation, and a set of nonlinear algebraic equations had to be solved numerically. In addition, their analysis is undertaken for a two-phase motor, andtherefore, their conclusions cannot applied directly to our situation, where a three-phase motor will be considered. Here, we give a more elegant analysis for stabilizing stepper motors, where no complex mathematical manipulation is needed. In this analysis, a d–q model of stepper motors is used. Because two-phase motors and three-phase motors have the same q–d model and therefore, the analysis is valid for both two-phase and three-phase motors. Up to date, it is only recognized that the modulation method is needed to suppress the midfrequency oscillation. In this paper, it is shown that this method is not only valid to improve mid-frequency stability, but also effective to improve high-frequency stability.2. Dynamic Model of Stepper MotorsThe stepper motor considered in this paper consists of a salient stator with two-phase or threephase windings, and a permanent-magnet rotor. A simplified schematic of a three-phase motor with one pole-pair is shown in Figure 1. The stepper motor is usually fed by a voltage-source inverter, which is controlled by a sequence of pulses and produces square-wave voltages. Thismotor operates essentially on the same principle as that of synchronous motors. One of major operating manner for stepper motors is that supplying voltage is kept constant and frequencyof pulses is changed at a very wide range. Under this operating condition, oscillation and instability problems usually arise.Figure 1. Schematic model of a three-phase stepper motor.A mathematical model for a three-phase stepper motor is established using q–d framereference transformation. The voltage equations for three-phase windings are given byv a = Ria+ L*dia/dt − M*dib/dt − M*dic/dt + dλpma/dt ,v b = Rib+ L*dib/dt − M*dia/dt − M*dic/dt + dλpmb/dt ,v c = Ric+ L*dic/dt − M*dia/dt − M*dib/dt + dλpmc/dt ,where R and L are the resistance and inductance of the phase windings, and M is the mutual inductance between the phase windings. _pm a, _pm b and _pm c are the flux-linkages of thephases due to the permanent magnet, and can be assumed to be sinusoid functions of rotor position _ as followλpma = λ1 sin(Nθ),λpmb = λ1 sin(Nθ− 2/3),λpmc = λ1 sin(Nθ - 2/3),where N is number of rotor teeth. The nonlinearity emphasized in this paper is represented by the above equations, that is, the flux-linkages are nonlinear functions of the rotor position.By using the q; d transformation, the frame of reference is changed from the fixed phase axes to the axes moving with the rotor (refer to Figure 2). Transformation matrix from the a; b; c frame to the q; d frame is given by [8]For example, voltages in the q; d reference are given byIn the a; b; c reference, only two variables are independent (ia C ib C ic D 0); therefore, the above transformation from three variables to two variables is allowable. Applying the abovetransformation to the voltage equations (1), the transferred voltage equation in the q; d frame can be obtained asv q = Riq+ L1*diq/dt + NL1idω + Nλ1ω,v d =Rid+ L1*did/dt − NL1iqω, (5)Figure 2. a, b, c and d, q reference frame.where L1 D L C M, and ! is the speed of the rotor.It can be shown that the motor’s torque has the following form [2]T = 3/2Nλ1i qThe equation of motion of the rotor is written asJ*dω/dt = 3/2*Nλ1iq− Bfω– Tl ,where Bf is the coefficient of viscous friction, and Tl represents load torque, which is assumed to be a constant in this paper.In order to constitute the complete state equation of the motor, we need another state variable that represents the position of the rotor. For this purpose the so called load angle _ [8] is usually used, which satisfies the following equationDδ/dt = ω−ω,where !0 is steady-state speed of the motor. Equations (5), (7), and (8) constitute the statespace model of the motor, for which the input variables are the voltages vq and vd. As mentioned before, stepper motors are fed by an inverter, whose output voltages are not sinusoidal but instead are square waves. However, because the non-sinusoidal voltages do not change the oscillation feature and instability very much if compared to the sinusoidal case (as will be shown in Section 3, the oscillation is due to thenonlinearity of the motor), for the purposes of this paper we can assume the supply voltages are sinusoidal. Under this assumption, we can get vq and vd as followsv q = Vmcos(Nδ) ,v d = Vmsin(Nδ) ,where Vm is the maximum of the sine wave. With the above equation, we have changed the input voltages from a function of time to a function of state, and in this way we can represent the dynamics of the motor by a autonomous system, as shown below. This will simplify the mathematical analysis.From Equations (5), (7), and (8), the state-space model of the motor can be written in a matrix form as followsẊ = F(X,u) = AX + Fn(X) + Bu , (10) where X D T iq id ! _U T , u D T!1 Tl U T is defined as the input, and !1 D N!0 is the supply frequency. The input matrix B is defined byThe matrix A is the linear part of F._/, and is given byFn.X/ represents the nonlinear part of F._/, and is given byThe input term u is independent of time, and therefore Equation (10) is autonomous.There are three parameters in F.X;u/, they are the supply frequency !1, the supply voltage magnitude Vm and the load torque Tl . These parametersgovern the behaviour of the stepper motor. In practice, stepper motors are usually driven in such a way that the supply frequency !1 is changed by the command pulse to control the motor’s speed, while the suppl y voltage is kept constant. Therefore, we shall investigate the effect of parameter !1.3. Bifurcation and Mid-Frequency OscillationBy setting ! D !0, the equilibria of Equation (10) are given asand ' is its phase angle defined byφ = arctan(ω1L1/R) . (16) Equations (12) and (13) indicate that multiple equilibria exist, which means that these equilibria can never be globally stable. One can see that there are two groups of equilibria as shown in Equations (12) and (13). The first group represented by Equation (12) corresponds to the real operating conditions of the motor. The second group represented by Equation (13) is always unstable and does not relate to the real operating conditions. In the following, we will concentrate on the equilibria represented by Equation (12).。